Multi-agent collaborative perception significantly improves autonomous driving safety by sharing complementary information to overcome individual limitations owing to occlusions. A primary goal is to navigate the critical trade-off between perception performance and communication bandwidth. However, existing methods struggle to achieve this balance, treating all information equally without considering each agent’s specific situation. To address this issue, this study proposes CoGMoE, a novel collaborative perception method that models the V2V communication as a structured, hierarchical reasoning process. Specifically, CoGMoE provides three distinct advantages: i) it selects a sparse set of semantically salient keypoints from each vehicle, significantly reducing communication overhead while preserving important information; ii) it constructs a hierarchical communication graph that establishes direct alignment links between the corresponding position areas of different vehicles, explicitly separating them from the internal links used for context reasoning; and iii) it uses a graph mixture-of-experts (GraphMoE) architecture governed by multi-round expert deliberation to dynamically assign experts for each link type, achieving superior robustness using iterative feature refinement. Extensive experiments on both simulated and real-world datasets demonstrate that our proposed CoGMoE outperforms state-of-the-art collaborative perception methods in achieving detection accuracy and communication bandwidth trade-off.
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